Abstract
This paper deals with the design and analysis of robust model reference control systems for a class of linear parameter-varying (LPV) systems with disturbances. Two types of robust model reference control systems are proposed to achieve a prescribed tracking performance. The first type is the LPV H ∞ state-feedback model reference control system and the second type is the LPV H ∞ output-feedback model reference control system. Based on the notion of quadratic stability, necessary and sufficient conditions for the existence of LPV reference models are given. Also, a parameterisation of LPV reference models is derived in this study. A practical example of a single-link flexible-joint robot is given to illustrate the design steps and to show the effectiveness of the proposed LPV H ∞ model reference controllers.
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